Posts by Waterproof

Thanks for the help here, Wanted to post an update:

(SSCNET) is the feedback from the Mitsubishi servo motor, my machine has 2 as rotary axes. The Error

(D1535) followed by time and date

(SSCNET) Alarm of Jt. 7 (Code E9)

The error E9 from the mitsubishi servo amplifier, which indicates disconnected mains. My mains to the servos are showing full voltage here. Apparently this is a common failure mode on the Mitsubishi Servo Amplifiers (Mine is a MR-J2s-60B4) and indicates that the servo bus is under voltage. There is an Optocoupler (HCPL7800 or similar) and some capacitors that fails and reads low when the temperature drops, so it may start working again when ambient temperature, or the machine has warmed up. Below is a link to the replacement of the parts in the Servo Amplifier that fail and generate the E9 code when there is proper power to the mains.

Good News, apparently the way to go here with D series and newer is K-IDE, it seems to be a much newer and user friendly way to interact with AS. I can now see all the AS programming, Translation Points, Precision points, etc. Still all greek to me, but off to a good start here! software connects directly to the controller via TCP/IP and saves all the info. Links below

KIDE Download:

ftp.kawasakirobot.de - /Software/KIDE/

User Manual:

Documents » K-IDE User Manuals

Afternoon All,

Successfully connected to D series controller via KRTERM TCP/IP and attempting to backup controller/robot data to my PC to begin my journey into AS programming, but I can't seem to get this to work. here is what I've tried

>SAVE programdownloadtest

(programdownloadtest was a name I made up to save the data as)

and

>SAVE BACKUP.as

(BACKUP being the saved filename I specified, added the .as for good measure, but as I understand it it is not needed)

the controller in both instances replies:

>SAVE/LOAD in progress

then returns to the command prompt. as I understand it it should create the file I've named in the directory that KTERM is in, but no backup file is created.

any clue what I'm doing wrong here?

Thanks, I believe this is moving me in the correct direction here, I've run through it but still can't find any reference to Alarm of JT7 (Code9). From a practical standpoint I understand what is happening, the PLC in the cell is forcing stop on the Mitsubishi servo amplifiers (Code E7 on them) and some combination of switching groups, programs, teach/repeat seems to be releasing this hold. I just can't seem to figure out what action releases it and allows motor operation. stuck again today.

Well, Please don't disregard just yet. Still having the issue after power cycle. I tried to look up the error, but cant find anything. Any clue what

(SSCNET) Alarm of Jt. 7 (Code E9) means and how to fix it. if I mess around between repeat and teach for a while I can usually get it to clear, but it returns with every power up.

Thanks!

Disregard, I've found if I take it out of teach on startup then switch it back the error clears and I can turn the motors on. Thanks!

I'm working on a new to me robot cell with 2 rotary axis, when in teach mode as I attempt to power on the motor the light on the arm goes green for a second, with nice robot noises, then I'm getting the the light goes orange and I get the following error:

(D1535) followed by time and date

(SSCNET) Alarm of Jt. 7 (Code E9)

When I check the control panel both rotary axis servo amplifiers are are both reading E7 (Forced Stop)

I believe the controller is putting these servos in stop, somehow yesterday I was able to get the motors and additional axis working and drove the robot around. I believe this was related to changing the grouping of the separate group control which is structured as follows:

-1 Robot Motion Only

0 All groups. robot and all positioners

1 robot and group 1 (Axis 7)

2 Robot and group 2 (Axis

However my after powering down overnight I can't seem to get the motors on today.

Controller D77

Arm FS06L

2 Mitsubishi servos driving rotary positioners

THanks!

Thanks for all the input here. The robot is in a similar pose to that shown in post 2, but Joint 3 is a little more open and the arm is slightly more cantilevered out in front, Perhaps +10-15 degrees but with no attachment in place. Its only being moved 20-30 miles, and the brakes appear to be on as there is no manual deflection possible in the arm. I'm stuck with this configuration as the power is disconnected. I'm assuming the brakes are on during while the unit is powered down. is it better to wedge and secure a block under the arm between it and the integrated fab table because of its current pose, or are the brakes typically enough to transport even when its slightly off from ideal pose? I almost feel like any attempt to secure it will impart more force on the arm than just relying on the brakes, but I'm not sure which is worse.

Thanks!

I'm moving a complete 7' x 7' x 7' kawasaki robot cell, the welding torch has been removed from the wrist, so there is no load on it. the unit has been de-powered, and is just hanging out in space, not too far off the base, and the arm folded down. The robot does not appear to have any play in the arm it is rigid in place. Can I transport it in this position, or do I need to block or strap the arm prior to transport? The robot model is F06L. Thanks!

Obtaining a D series controller (not sure if it is a 40 or 42).It is currently configured for 480V input Per the Kawasaki label, which was an option in the D series spec sheet. I see a reference to a transformer, is it possible to wire this unit (Presumably without the transformer) and run it on 240V 3 phase?

Thanks for the speedy and informative reply! Few more questions,

What is the difference between block command circular 1 and circular 2?

How precisely does the mid point of the circle need to be defined?

Is it better to define several points along the circle using weld c?

Is it possible to define an arc of weld, or will circular block command try to complete interpolate the circle?

On a rotary axis parallel to the travel of the weld, I m guessing I can simply pose above the weld and spin the rotary axis, and define linear weld, is this correct?

Is there any setup animation software available that is comparable with this machine, and to practice block programming on? I’ve seen videos showing a animated e controller operations, seems like a good way to learn, and possibly program.

Thanks again! (Please let me know if I’m asking too many questions here)

Howdy All, nice to meet you. Acquiring an FS06L to help me out with welding, currently in a cell and connected to a Fronius mig welder with an RCU 5000I interface. The forum has been helpful for sure, but i have not been able to find instruction on block programming circular welds. The D series controller arc welding programming info i've found here only details linier welds. Any pointers here would be helpful. Also a couple questions about configuration, see photos below (If the link works)

The robot is in a smallish partitioned 2 station cell (~8'wide x 6'deep x 8'high) with two rotary axiss (no clue what the plural is here) and 2 separate control button assemblies in addition to a d series controller. I want to mount it to a large configurable table with some safety partitions, as I tear down this modular cell and disconnect all the interlocks and unused hardware I'm afraid it will toss the machine into disarray. What is my best source for learning to reconfigure the inputs that are now being monitored to operate the drop existing doors, automated drop curtains, control button pendants and safety interlocks and axiss that will be no longer needed when I remove the robot from the cell?

Thanks! I'd be even more lost without y'all!